CN103475285B - A kind of magnetically levitated flywheel brushless DC motor control system - Google Patents
A kind of magnetically levitated flywheel brushless DC motor control system Download PDFInfo
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- CN103475285B CN103475285B CN201310415366.0A CN201310415366A CN103475285B CN 103475285 B CN103475285 B CN 103475285B CN 201310415366 A CN201310415366 A CN 201310415366A CN 103475285 B CN103475285 B CN 103475285B
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Abstract
A kind of magnetically levitated flywheel brushless DC motor control system, be a kind of device being used for controlling the output torque of magnetically levitated flywheel three-phase permanent brshless DC motor, it mainly comprises filter circuit, buck circuit, current detecting link, three-phase permanent brshless DC motor, Hall effect rotor-position sensor, three-phase half-bridge power amplifier and take FPGA as the controller of core.The present invention by controlling turn-on sequence and the size of current of magnetically levitated flywheel three-phase permanent brshless DC motor winding, thus realizes the control to magnetically levitated flywheel output torque.
Description
Technical field
The present invention relates to a kind of magnetically levitated flywheel brushless DC motor control system, for accurately controlling the output torque of magnetically levitated flywheel three-phase permanent brshless DC motor.
Background technology
Magnetically levitated flywheel is the desirable attitude control actuator of high accuracy, long-life three-axis attitude stabilization satellite, exports by the electric current of electric machine control system adjustment motor the control moment expected.Existing magnetically levitated flywheel electric machine control system generally uses the power amplifier of three phase full bridge or three-phase half-bridge topology.Figure of description 1 is depicted as the structured flowchart (ZL200710119966.7 of the magnetically levitated flywheel electric machine control system of existing use three phase full bridge topological structure power amplifier, room builds up, Wang Zhiqiang, Liu Gang, Fan Yahong, a kind of magnetic suspension reaction fly-wheel motor rate mode control system), three-phase bridge power amplifier uses 6 power tubes, control opening and shutoff of 6 power tubes by PWM1 ~ PWM6, realize the control to machine winding current.Figure of description 2 is the structured flowchart (ZL200910236136.1 of the magnetically levitated flywheel electric machine control system of existing use three-phase half-bridge topology power amplifier, room builds up, all rising stars, Liu Gang, Wang Zhiqiang, a kind of electromagnetic torque pulsation suppression device of magnetic suspension reaction fly-wheel motor), three-phase bridge power amplifier uses 7 power tubes, control opening and shutoff of 7 power tubes by PWM1 ~ PWM7, realize the control to machine winding current.Wherein: PWM1 ~ PWM3 controls opening and shutoff of three-phase half-bridge main circuit power tube; In PWM4 control Buck circuit, power tube opens and shutoff; PWM5 controls opening and shutoff of dynamic braking power pipe; The pulsation of PWM6 and PWM7 controlling torque suppresses opening and shutoff of power tube.Power tube and drive circuit thereof are the principal elements affecting magnetically levitated flywheel electric machine control system reliability, if can reduce the quantity of the power tube that existing magnetically levitated flywheel electric machine control system uses, then can improve the reliability of control system further.
Summary of the invention
The technical problem that the present invention solves is: the deficiency using power tube more for existing magnetically levitated flywheel brushless DC motor control system, the conducting phase control circuit of magnetically levitated flywheel brushless DC motor control system and energy-dissipating brake circuit are merged, propose the magnetically levitated flywheel brushless DC motor control system scheme that a kind of uses 4 power tubes, relatively existing magnetically levitated flywheel control system, has that reliability is high, the simple feature of structure.
Technical solution of the present invention: a kind of magnetically levitated flywheel brushless DC motor control system, mainly comprises: filter circuit, buck circuit, current detecting link, three-phase permanent brshless DC motor, Hall effect rotor-position sensor, three-phase half-bridge power amplification appliance and take FPGA as the controller of core.Wherein:
Filter circuit: export and connect buck circuit, for eliminating the high-frequency noise in+28V input;
Buck circuit: input connects with filter circuit, exports and connects with current detecting link, controls conducting and the shutoff of Darlington power transistor V4, modulate the output voltage of filter circuit according to the control signal of the controller output taking FPGA as core;
Current detecting link: input connects with buck circuit, exports and connects with three-phase permanent brshless DC motor, for detecting the winding current by three-phase permanent brshless DC motor;
Hall effect rotor-position sensor: input connects with three-phase permanent brshless DC motor, export and connect with the controller taking FPGA as core, output is 3 road rotar position of magnet suspension flywheel signals;
Three-phase half-bridge power amplifier: the output according to the controller taking FPGA as core controls opening and shutoff of Darlington power transistor, thus generates the control electric current of expectation in the winding of three-phase permanent brshless DC motor;
Take FPGA as the controller of core: the current feedback signal that current detecting link exports is sampled through the current signal modulus conversion chip of the controller taking FPGA as core, current signal sampled value is subtracted each other with the outside current reference value inputted, difference is as the input variable of electric current loop pid algorithm, the output variable of electric current loop pid algorithm exports to FPGA the D/A module of the controller being core, and the control signal of the control voltage distribution link generation three-phase half-bridge power amplifier of the controller being core is passed through with FPGA in the output of D/A module.The voltage feedback signal that three-phase half-bridge power amplifier exports inputs to FPGA the voltage signal modulus conversion chip of the controller being core after the voltage detecting link of controller taking FPGA as core, the sampled value of voltage signal modulus conversion chip is subtracted each other with the outside voltage reference value inputted, difference is as the input variable of Voltage loop pid algorithm, and the PWM waveform generating module of the controller of output variable through taking FPGA as core of Voltage loop pid algorithm generates the control signal PWM_V4 of buck circuit.
Principle of the present invention is: magnetically levitated flywheel brushless DC motor control system carries out three-phase permanent brshless DC motor Accelerating running according to electric current/torque command that outside inputs and running under braking controls, and enables permanent-magnet brushless DC electric machine at four quadrant jobs.Principle is as follows:
(1) when three-phase permanent brshless DC motor machine operation is at one, three quadrants, namely the electric current of outside input or the instruction of moment direction consistent with turning to of magnetically levitated flywheel, during Accelerating running state, electric current from the input of+28V power supply, through the Darlington power transistor V4 of filter circuit, buck module and inductance L 2, current detecting link to motor winding.Be that the controller of core is by controlling the turn-on sequence of three Darlington power transistors (V1 ~ V3) in three-phase half-bridge power amplifier with FPGA, and ensure the electric current of electric current that motor conducting passes through mutually and input or torque command consistent, thus to achieve motor one, three quadrant jobs time output torque control.When machine operation one, three quadrants time, the back-emf of conducting phase is identical with the sense of current passed through.
(2) when three-phase permanent brshless DC motor machine operation is two, four-quadrant, namely the electric current of outside input or the instruction of moment direction contrary with turning to of magnetically levitated flywheel, during brake running state: be in dynamic braking state when three-phase permanent brshless DC motor back-emf can maintain when three Darlington power transistors (V1 ~ V3) produce the stalling current of expectation in three-phase half-bridge power amplifier, Darlington power transistor V4 now in buck module turns off, electric current is through current detecting link motor winding, three-phase half-bridge power amplifier, diode D1 in buck circuit and inductance L 2, current detecting link forms energy consumption passage, the energy of magnetically levitated flywheel rotor mainly consumes on three Darlington power transistors (V1 ~ V3) in three-phase half-bridge power amplifier, along with the reduction of magnetically levitated flywheel rotating speed, winding back emf can not maintain the stalling current that in three-phase half-bridge power amplifier, three Darlington power transistor (V1 ~ V3) generations are expected, Darlington power transistor V4 in buck circuit is again open-minded, electric machine control system transfers plug braking pattern to, electric current again from the input of+28V power supply, through the Darlington power transistor V4 of filter circuit, buck module and inductance L 2, current detecting link to motor winding.When motor braking runs, the same controller by taking FPGA as core controls the turn-on sequence of three Darlington power transistors (V1 ~ V3) in three-phase half-bridge power amplifier, and ensure the electric current of electric current that motor conducting passes through mutually and input or torque command consistent.To thus achieve motor two, four-quadrant operation time output torque control.From machine operation one, three quadrants time different, machine operation two, four-quadrant time, the back-emf of conducting phase is contrary with the sense of current passed through.
The present invention's advantage is compared with prior art: magnetically levitated flywheel brushless DC motor control system of the present invention is owing to only using 4 power tubes, the three phase full bridge electric machine control system of relatively existing use 6 power tubes and the three-phase Half-bridge motor control system of use 7 power tubes, have the advantages that structure is simple, reliability is high.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the magnetically levitated flywheel electric machine control system of existing use three phase full bridge topological structure power amplifier;
Fig. 2 is the structured flowchart of the magnetically levitated flywheel electric machine control system of existing use three-phase half-bridge topology power amplifier;
Fig. 3 is hardware composition frame chart of the present invention;
The controller composition frame chart of Fig. 4 to be of the present invention with FPGA be core;
Fig. 5 is FPGA built-in function block diagram of the present invention;
Fig. 6 is the oscillogram of magnetically levitated flywheel rotor-position signal, back-emf when rotating forward.
Embodiment
As shown in Figure 1, the structured flowchart of the magnetically levitated flywheel electric machine control system of existing use three phase full bridge topological structure power amplifier is given.DSP is according to rotating speed reference, 3 road rotor-position signals, circuit current feedback signal, tach signal, generate 6 road PWM, the drive control signal of 6 power tubes of three phase full bridge power amplifier is generated through three-phase bridge drive circuit, control opening and shutoff of power tube, in motor winding, generate corresponding electric current, thus export the control moment expected.
As shown in Figure 2, the structured flowchart of the magnetically levitated flywheel electric machine control system of existing use three-phase half-bridge topology power amplifier is given.DSP is according to rotating speed reference, 3 road rotor-position signals, circuit current feedback signal, generate 7 road PWM, the drive control signal of 7 power tubes of three-phase half-bridge power amplifier is generated through drive circuit, control opening and shutoff of power tube, in motor winding, generate corresponding electric current, thus export the control moment expected.Wherein: PWM1 ~ PWM3 controls opening and shutoff of three-phase half-bridge main circuit power tube; Opening and shutoff of PWM4 control Buck circuit power pipe; PWM5 controls opening and shutoff of dynamic braking power pipe; The pulsation of PWM6 and PWM7 controlling torque suppresses opening and shutoff of power tube.
As shown in Figure 3, hardware of the present invention mainly comprises filter circuit, buck circuit, current detecting link, three-phase permanent brshless DC motor, Hall effect rotor-position sensor, three-phase half-bridge power amplification appliance and take FPGA as the controller of core.When machine operation one, three quadrants time, electric current from the input of+28V power supply, through the Darlington power transistor V4 of filter circuit, buck module and inductance L 2, current detecting link to motor winding.When machine operation two, four-quadrant time: be in dynamic braking state when three-phase permanent brshless DC motor back-emf can to maintain in three-phase half-bridge power amplifier the stalling current that three Darlington power transistors (V1 ~ V3) generations expect, Darlington power transistor V4 now in buck module turns off, the diode D1 of electric current in motor winding, three-phase half-bridge power amplifier, buck module and inductance L 2 form energy consumption passage, and the energy of magnetically levitated flywheel rotor mainly consumes on three Darlington power transistors (V1 ~ V3) in three-phase half-bridge power amplifier; Along with Speed of Reaction Wheels reduces, Darlington power transistor V4 in buck module is again open-minded, transfer plug braking pattern to, electric current again from the input of+28V power supply, through the Darlington power transistor V4 of filter circuit, buck module and inductance L 2, current detecting link to motor winding.Take FPGA as current reference value, 3 road rotar position of magnet suspension flywheel signals, the current feedback signal of current detecting link and three voltage feedback signals of three-phase half-bridge power amplifier output that the controller of core inputs according to outside, produce the control signal u of three Darlington power transistors in three-phase half-bridge power amplifier
be1~ u
be3with the control signal PWM_V4 of Darlington power transistor V4 in buck circuit.
As shown in Figure 4, with FPGA be core controller by FPGA, current signal modulus conversion chip, voltage signal modulus conversion chip, D/A module, voltage detecting link and control voltage distribute link form.Control current signal modulus conversion chip by FPGA to sample to current feedback signal, sampled value is subtracted each other with the outside current reference value inputted, difference is as the input variable of electric current loop pid algorithm, and the output variable of electric current loop pid algorithm exports to D/A module, the output signal u of D/A module
bedistribute link through control voltage and generate control signal u
be1~ u
be3.Feedback signal u
ce1~ u
ce3signal u after Zenith tracking link
ceinput voltage signal modulus conversion chip is sampled, and the difference that sampled value and the outside voltage reference value inputted subtract each other is as the input variable of Voltage loop pid algorithm, and the output variable of Voltage loop pid algorithm generates control signal PWM_V4 through PWM waveform generating module.The commutation control signal S that voltage detecting link and control voltage distribution link produce by commutation logic in FPGA controlled.
The function that control voltage distributes link is as follows:
The logic of link is distributed: when needing the conducting of motor phase winding according to commutation logic, the control signal u answer the control signal of Darlington power transistor in the three-phase half-bridge power amplifier of winding and D/A module to export to this from control voltage
bebe consistent, this Darlington power transistor is at u
becontrol under produce expect size control electric current; The control signal ground connection of the Darlington power transistor that non-conduction phase winding is corresponding, Darlington power transistor is in off state, and the electric current of non-conduction phase winding is zero.
The function of voltage detecting link is as follows:
Logic from voltage detecting link: when according to the phase winding conducting of commutation logic motor, the u that voltage detecting link exports
cefor the collector emitter voltage of Darlington power transistor in the three-phase half-bridge power amplifier that conducting is corresponding.U
cethe control signal PWM_V4 of Darlington power transistor V4 in buck circuit is generated after the sampling of overvoltage signal modulus conversion chip and FPGA process, conducting and the shutoff of Darlington power transistor V4 is controlled by PWM_V4, in the three-phase half-bridge power amplifier making motor conducting corresponding, the collector emitter voltage of Darlington power transistor is not less than given voltage reference value unanimously, ensures that motor conducting can produce the control electric current of expectation mutually.
As shown in Figure 5, FPGA built-in function block diagram of the present invention is given.FPGA mainly completes electric current loop closed-loop control, Voltage loop closed-loop control and commutation logic function.Electric current loop closed-loop control: under the control of current signal modulus conversion chip controlling of sampling logic, current feedback signal i
mtsample through current signal modulus conversion chip, the sampled value that current signal modulus conversion chip controlling of sampling logic exports is subtracted each other with the outside current reference value inputted, difference is as the input variable of electric current loop pid algorithm, and the output variable of electric current loop pid algorithm exports to D/A module through D/A module control logic.Voltage loop closed-loop control: under the control of voltage signal modulus conversion chip controlling of sampling logic, feedback signal u
cesample through voltage signal modulus conversion chip, the sampled value that voltage signal modulus conversion chip controlling of sampling logic exports is subtracted each other with the outside voltage reference value inputted, difference is as the input variable of Voltage loop pid algorithm, and the output variable of Voltage loop pid algorithm generates the control signal PWM_V4 of Darlington power transistor V4 in buck circuit through PWM waveform generating module.Commutation logic generates commutation control signal S according to the moment direction signal of 3 rotor-position signals and outside input.Fig. 6 is the oscillogram of magnetically levitated flywheel rotor-position signal, back-emf when rotating forward, under the conditions illustrated in fig. 6, the logical relation of commutation control signal S and 3 rotor-position signal (rotor-position signal A, rotor-position signal B, rotor-position signal C), moment direction signal is as follows:
Wherein: moment direction signal state is 1 be expressed as positive moment, and 0 is expressed as negative moment.
Though the present invention is a kind of magnetically levitated flywheel brushless DC motor control system, also the control of general three-phase permanent brshless DC motor or the inner ring current controller as rate mode control system can be carried out as a kind of general control system.Other unexplained part is common engineering general knowledge.
Claims (3)
1. a magnetically levitated flywheel brushless DC motor control system, is characterized in that comprising: filter circuit (1), buck circuit (2), current detecting link (3), three-phase permanent brshless DC motor (4), Hall effect rotor-position sensor (5), three-phase half-bridge power amplifier (6) and take FPGA as the controller (7) of core; Wherein:
Filter circuit (1): export and connect buck circuit (2), for eliminating the high-frequency noise in+28V input;
Buck circuit (2): input connects with filter circuit (1), exports and connects with current detecting link (3); Take FPGA as conducting and the shutoff that control signal that the controller (7) of core exports controls Darlington power transistor V4, the output voltage of filter circuit (1) is modulated; Buck circuit (2) comprises Darlington power transistor V4, diode D1 and inductance L 2; The collector electrode of Darlington power transistor V4 connects with one end of the negative electrode of diode D1 and inductance L 2, connect with current detecting link (3) after the other end of inductance L 2 connects with the anode of electric capacity C3, the negative electrode of electric capacity C3 connects with the anode of electric capacity C4, and the negative electrode of electric capacity C4 connects with+28V power supply ground;
Current detecting link (3): input connects with buck circuit (2), exports and connects with three-phase permanent brshless DC motor (4), for detecting the winding current by three-phase permanent brshless DC motor (4);
Hall effect rotor-position sensor (5): input connects with three-phase permanent brshless DC motor (4), export and connect with the controller (7) taking FPGA as core, output is 3 road rotar position of magnet suspension flywheel signals;
Three-phase half-bridge power amplifier (6): comprise three Darlington power transistor V1 ~ V3 in parallel; Take FPGA as opening and shutoff of the output control Darlington power transistor V1 ~ V3 of the controller (7) of core, thus in the winding of three-phase permanent brshless DC motor (4), generate the control electric current of expectation;
When three-phase permanent brshless DC motor (4) is operated in one, three quadrants, namely the electric current of outside input or the instruction of moment direction consistent with turning to of magnetically levitated flywheel, during Accelerating running state, electric current inputs from+28V power supply, through filter circuit, the Darlington power transistor V4 of buck circuit (2) and inductance L 2, current detecting link (3) is to the winding of three-phase permanent brshless DC motor (4), be that the controller (7) of core is by controlling the turn-on sequence of three Darlington power transistor V1 ~ V3 in three-phase half-bridge power amplifier (6) with FPGA, and ensure the electric current of electric current that three-phase permanent brshless DC motor (4) conducting passes through mutually and input or torque command consistent, thus achieve three-phase permanent brshless DC motor (4) one, the control of output torque during three quadrant jobs, when three-phase permanent brshless DC motor (4) be operated in one, three quadrants time, the back-emf of conducting phase is identical with the sense of current passed through,
When three-phase permanent brshless DC motor (4) is operated in two, four-quadrant, namely the electric current of outside input or the instruction of moment direction contrary with turning to of magnetically levitated flywheel, during brake running state: be in dynamic braking state when three-phase permanent brshless DC motor (4) back-emf can maintain when three Darlington power transistor V1 ~ V3 produce the stalling current expected in three-phase half-bridge power amplifier, Darlington power transistor V4 now in buck circuit (2) turns off, electric current through current detecting link (3) to three-phase permanent brshless DC motor (4) winding, three-phase half-bridge power amplifier (6), diode D1 in buck circuit (2) and inductance L 2, current detecting link forms energy consumption passage, the energy of magnetically levitated flywheel rotor mainly consumes on three Darlington power transistor V1 ~ V3 in three-phase half-bridge power amplifier (6), along with the reduction of magnetically levitated flywheel rotating speed, three-phase permanent brshless DC motor (4) back-emf can not maintain three Darlington power transistor V1 ~ V3 in three-phase half-bridge power amplifier and produce the stalling current expected, Darlington power transistor V4 in buck circuit (2) is again open-minded, become plug braking pattern, electric current again from the input of+28V power supply, through the Darlington power transistor V4 of filter circuit (1), buck circuit (2) and inductance L 2, current detecting link (3) to three-phase permanent brshless DC motor (4) winding, during three-phase permanent brshless DC motor (4) running under braking, the same controller (7) by taking FPGA as core controls the turn-on sequence of three Darlington power transistor V1 ~ V3 in three-phase half-bridge power amplifier (6), and ensure the electric current of electric current that three-phase permanent brshless DC motor (4) conducting passes through mutually and input or torque command consistent, to thus achieve three-phase permanent brshless DC motor (4) two, four-quadrant operation time output torque control, be operated in one from three-phase permanent brshless DC motor (4), three quadrants time different, three-phase permanent brshless DC motor (4) is operated in two, four-quadrant time, the back-emf of conducting phase is contrary with the sense of current passed through,
Described is that the controller (7) of core comprises FPGA, current signal modulus conversion chip, voltage signal modulus conversion chip, D/A module, voltage detecting link and control voltage and distributes link with FPGA, the current feedback signal that current detecting link (3) exports is sampled through overcurrent signal modulus conversion chip, current signal sampled value is subtracted each other with the outside current reference value inputted, difference is as the input variable of electric current loop pid algorithm in FPGA, the output variable of electric current loop pid algorithm exports to D/A module, the output of D/A module distributes the control signal of link generation three-phase half-bridge power amplifier (6) through control voltage, the voltage feedback signal that three-phase half-bridge power amplifier (6) exports inputs to voltage signal modulus conversion chip after Zenith tracking link, the sampled value of voltage signal modulus conversion chip is subtracted each other with the outside voltage reference value inputted, difference is as the input variable of Voltage loop pid algorithm in FPGA, the output variable of Voltage loop pid algorithm generates the control signal PWM_V4 of buck circuit (2) through the PWM waveform generating module of FPGA.
2. a kind of magnetically levitated flywheel brushless DC motor control system according to claim 1, is characterized in that: the controlled plant of described buck circuit (2) is the collector emitter voltage of the Darlington power transistor V4 be connected with three-phase permanent brshless DC motor (4) conducting in three-phase half-bridge power amplifier (6).
3. a kind of magnetically levitated flywheel brushless DC motor control system according to claim 1, it is characterized in that: when described dynamic braking state, the Darlington power transistor V4 of buck circuit (2) is in off state, and electric current forms closed loop through the diode D1 of buck circuit (2) and inductance L 2, current detecting link (3), three-phase permanent brshless DC motor (4), three-phase half-bridge power amplifier (6); When described plug braking pattern, electric current is inputted by+28V power supply, through Darlington power transistor V4 and inductance L 2, current detecting link (3), three-phase permanent brshless DC motor (4) and the three-phase half-bridge power amplifier (6) of filter circuit (1), buck circuit (2), return to+28V power supply ground.
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